Study On Kinematics And Trajectory Planning Of Robot In Welding Intersecting-body

According to the trajectory characteristics that the terminal manipulator will complete, the thesis goes on trajectory planning, and gives a study on the industrial robot's structure to deal with the problem, and key to the robot, the thesis also gives kinematics analysis.In the light of the equation of the robot's forward kinematics, traditional method which sets up the robot's kinematics equation is D-H parameter law, because the method may cause the singularity of some systems of coordinates, and every connecting rod requires to set up a system of coordinates whose relative relation are complicated and geometry characteristics are not obvious. In my thesis, I adopt the product of exponentials formula which based on screw theory to establish the kinematics equation of the robot. This method not only can describe the whole motion of the robot to avoid singularity, but also carries out the direct geometry description. It also simplifies the analysis of the robot's organization greatly.The solving of kinematics inverse solution is relatively active in the research on robot. According to the robot's structure characteristics, we can divide the whole process of solving the inverse solution into several known solutions or sub-solutions that can be solved. This method is called Paden-Kahan that can establish reversed kinematics arithmetic, simplifies the solving course, shorten the solving period, and this method is beneficial for the real-time control of the robot. We also can verify it's correctness through simulation.Observing the trajectory of two perpendicular intercourse cylinder formed by robot in advance and comparing the polynomial interpolation and the parabola interpolation, we puts forward the B-spline interpolation, on the one hand, it can ensures the continuity of the speed and acceleration, on the other hand, it can deal with question by dividing into subsection and adjust partial trajectory, thus benefit optimum design. In addition, it can speed up computer and take up less internal memory.This paper tries to set up the kinematics equation of the robot though the product of exponentials formula of the screw theory, and uses Paden-Kahan law to deal with the problemsof kinematics inverse solution accurately; On the basis of this, we adopt the B-spline interpolation to plan the trajectory finished by robot fast and offer the abundant condition for real-time control of the robot.